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In our previous works, we designed a path tracking controller for articulated lorry type vehicles. We showed that we can design path tracking controller using input/state linearization technique, if the joint of the tractor and the trailer is located at the middle point of tractor's rear wheels. However, this assumption is not always satisfied, for example, the joint of a car-caravan type articulated vehicle is not located at the middle point of tractor's rear wheels. If it is not satisfied, we cannot use input/state linearization technique. In this paper, we propose path tracking controller for car-caravan type articulated vehicle using partial linearization technique and time scale transformation. We will show, in the simulation and the experiment, that the proposed controller works satisfactorily, and the car-caravan type articulated vehicle follows the desired path when it is moving forward and/or backward.

Path Tracking Control of Car-Caravan Type Articulated Vehicles Using Nonlinear Control Theory